Underwater shaking table hybrid test method and system for fixed offshore wind turbine system considering multi-field coupling

Abstract

The application provides a fixed offshore wind turbine system underwater shaking table hybrid test method and system considering multi-field coupling, which can be used in the technical field of structure test. The fixed offshore wind turbine system underwater shaking table hybrid test method considering multi-field coupling comprises the following steps: inputting a test load and a horizontal inertia mass into a numerical substructure model for dynamic calculation, and outputting a first acceleration of a tower top; in the case that a test seismic wave is applied to the offshore wind turbine model through an underwater shaking table and a test wave flow load is applied through a wave and current generating device, determining a displacement stroke according to a difference between a second acceleration generated by a shaking table surface of the underwater shaking table and the first acceleration; and based on the displacement stroke, controlling horizontal movement of a mass block, so as to superimpose an inertial force generated by the mass block movement on the tower to apply a fluctuating wind load in the case that an average wind load in a test wind load is applied to the tower through a counterweight block loading device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of structural test, in particular to a fixed offshore wind turbine system underwater shaking table hybrid test method and system considering multi-field coupling. BACKGROUND

[0002] At present, in offshore wind turbine simulation tests, the related technologies mainly rely on gravity field shaking table tests. However, it is difficult to simulate the wind, wave, current and earthquake multi-field coupling loads acting on the offshore wind turbine in the real marine environment synchronously and accurately by using the gravity field shaking table, so that the model response deviates greatly from the actual situation, resulting in insufficient accuracy and reliability of the overall simulation. SUMMARY

[0003] Therefore, the present application provides a fixed offshore wind turbine system underwater shaking table hybrid test method and system considering multi-field coupling.

[0004] One aspect of the present application provides a fixed offshore wind turbine system underwater shaking table hybrid test method considering multi-field coupling, comprising: according to the scale relationship between the actual offshore wind turbine system and the offshore wind turbine model, scaling the pre-set wind load, the pre-set seismic wave and the pre-set wave current load to obtain the test load; inputting the test load and the horizontal inertia mass determined based on the mass distribution of the offshore wind turbine model along the height direction into the numerical substructure model for dynamic calculation to output the first acceleration of the top of the tower of the offshore wind turbine model; in the case of applying the test seismic wave in the test load to the offshore wind turbine model through the underwater shaking table and applying the test wave current load through the current and wave generating device, determining the displacement stroke of the mass block in the active mass driver in the offshore wind turbine model according to the difference between the second acceleration generated by the table surface of the underwater shaking table and the first acceleration; based on the displacement stroke, controlling the active mass driver to drive the mass block to move horizontally to superimpose the fluctuating wind load in the test wind load on the tower through the inertia force generated by the mass block movement in the case of applying the average wind load in the test wind load to the tower through the counterweight loading device.

[0005] According to the embodiment of the present application, the numerical substructure model comprises a plurality of nodes, each node having two degrees of freedom of horizontal displacement and rotation angle; the test load and the horizontal inertia mass determined based on the mass distribution of the offshore wind turbine model along the height direction are input into the numerical substructure model for dynamic calculation, and the first acceleration of the tower top of the offshore wind turbine model is output, comprising: the horizontal inertia mass determined based on the mass distribution of the offshore wind turbine model along the height direction is correspondingly distributed to each node of the numerical substructure model; the test wind load, the test seismic wave and the test wave load in the test load are applied as external excitations to the corresponding nodes in the numerical substructure model; the dynamic response of the horizontal displacement and the rotation angle of each node in the numerical substructure model is calculated by a numerical integration method, so as to determine the first acceleration based on the dynamic response of the corresponding node at the tower top.

[0006] According to the embodiment of the present application, the horizontal inertia mass determined based on the mass distribution of the offshore wind turbine model along the height direction is correspondingly distributed to each node of the numerical substructure model, comprising: the mass distribution of the offshore wind turbine model along the height direction is split into node inertia masses corresponding to the height positions of the nodes of the numerical substructure model, wherein the mass distribution comprises tower top distributed mass, tower distributed mass, lower structure distributed mass and foundation distributed mass; the plurality of node inertia masses obtained by splitting are distributed as horizontal inertia masses to the corresponding nodes in the numerical substructure model.

[0007] According to the embodiment of the present application, the displacement stroke of the mass block in the active mass driver in the offshore wind turbine model is determined according to the difference between the second acceleration generated by the underwater vibration table platform and the first acceleration, comprising: determining the difference between the first acceleration and the second acceleration to obtain an acceleration error; performing twice time integration operation on the acceleration error to obtain the displacement stroke required by the mass block in the active mass driver.

[0008] According to the embodiment of the present application, the method further comprises: generating a displacement control signal based on the displacement stroke, and sending the displacement control signal to the active mass driver to control the horizontal movement of the mass block; monitoring the inertia force generated by the horizontal movement of the mass block in real time through the three-way force sensor arranged between the active mass driver and the tower; and correcting the displacement control signal in real time according to the difference between the inertia force and the fluctuating wind load in the test wind load, so that the inertia force generated by the mass block is equivalent to the fluctuating wind load.

[0009] According to an embodiment of the present application, the scale relationship includes a structure fluid scale relationship and a structure soil scale relationship; the predetermined wind load, the predetermined seismic wave and the predetermined wave-current load are scaled according to the scale relationship between the actual offshore wind turbine system and the offshore wind turbine model to obtain the test load, including: determining the structure fluid scale relationship between the actual offshore wind turbine system and the offshore wind turbine model based on the similarity criterion of the structure dynamic model test, wherein the structure fluid scale relationship includes a geometric scale relationship, a mass scale relationship and an acceleration scale relationship; determining the structure soil scale relationship between the actual offshore wind turbine system and the offshore wind turbine model based on a set of dimensionless parameters of soil and structure dynamic interaction, wherein the set of dimensionless parameters includes geometric characteristic parameters, physical characteristic parameters and dynamic characteristic parameters; converting the predetermined wind load, the predetermined seismic wave and the predetermined wave-current load into corresponding test wind load, test seismic wave and test wave-current load respectively according to the structure fluid scale relationship and the structure soil scale relationship; wherein the test wind load, the test seismic wave and the test wave-current load are all converted by the structure fluid scale relationship and the structure soil scale relationship.

[0010] Another aspect of the present application provides a fixed offshore wind turbine system underwater shaking table hybrid test system considering multi-field coupling, including: an offshore wind turbine model, including a soil model, a fixed foundation, a lower structure, a tower, an active mass driver arranged on the tower and a counterweight loading device connected with the tower; wherein the soil model includes a soil box and saturated sand filled in the soil box, and the fixed foundation is arranged in the soil model; the active mass driver is provided with a mass block capable of horizontal movement, and the counterweight loading device is used to apply an average wind load in the test wind load to the tower; an underwater shaking table, used to carry the offshore wind turbine model and capable of applying a test seismic wave; a wave and current generating device, used to apply a test wave-current load; a controller, connected with the underwater shaking table, the active mass driver and the counterweight loading device respectively;

[0011] The controller is configured to: scale the predetermined wind load, the predetermined seismic wave and the predetermined wave-current load according to the scale relationship between the actual offshore wind turbine system and the offshore wind turbine model to obtain the test load; input the test load and a horizontal inertia mass determined based on the mass distribution of the offshore wind turbine model along the height direction into a numerical substructure model for dynamic calculation to output a first acceleration at the top of the tower; in the case of applying the test seismic wave by the underwater shaking table and the test wave-current load by the wave and current generating device, determine the displacement stroke of the mass block in the active mass driver according to the difference between a second acceleration generated by the table surface of the underwater shaking table and the first acceleration; control the active mass driver to drive the mass block to move horizontally based on the displacement stroke, so that the inertia force generated by the movement of the mass block is applied to the tower as a fluctuating wind load.

[0012] According to an embodiment of the present application, the counterweight loading device comprises a counterweight, a fixed pulley, a steel cable, a tension sensor and an electric lifting platform; one end of the steel cable is connected to the counterweight, and the other end is connected to the tower drum after being turned by the fixed pulley, for converting the gravity of the counterweight into an average wind load in the horizontal direction; the electric lifting platform is arranged below the counterweight and is connected to the controller, for controlling the loading or unloading of the average wind load by lifting or releasing the counterweight; and the tension sensor is connected in series to the steel cable and is connected to the controller, for monitoring the size of the average wind load in real time and feeding back to the controller.

[0013] According to an embodiment of the present application, the active mass driver is connected to the tower drum through a cross support; a three-way force sensor is arranged between the active mass driver and the cross support, for measuring the size of the fluctuating wind load. According to an embodiment of the present application, the system further comprises an accelerometer arranged on the underwater vibration table surface, for measuring the second acceleration and feeding back the measurement result to the controller.

[0014] Another aspect of the present application provides an electronic device comprising:

[0015] one or more processors;

[0016] a memory for storing one or more programs,

[0017] wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method as described above.

[0018] Another aspect of the present application provides a computer-readable storage medium storing computer-executable instructions, which when executed, implement the method as described above.

[0019] Another aspect of the present application provides a computer program product comprising computer-executable instructions, which when executed, implement the method as described above.

[0020] According to the embodiment of the present application, the wind load, seismic wave and wave-current load are scaled according to the scale relationship between the offshore wind turbine system and the model, and the load parameters suitable for the test are obtained. The test loads and the horizontal inertia mass determined according to the mass distribution of the offshore wind turbine model are input into the numerical substructure model, and the first acceleration at the top of the tower is calculated. When the test seismic wave and wave-current load are applied on the underwater vibration table, the displacement stroke of the mass block in the active mass driver is accurately determined by comparing the difference between the second acceleration of the vibration table surface and the first acceleration. Based on the displacement stroke, the active mass driver drives the mass block to move horizontally, and at the same time, the average wind load is applied by the counterweight loading device, and the inertial force generated by the mass block movement is used to apply the fluctuating wind load. This method can simultaneously and accurately simulate the various coupled loads acting on the offshore wind turbine in the real marine environment, effectively improve the consistency between the model response and the actual situation, and significantly enhance the accuracy and reliability of the offshore wind turbine simulation test. BRIEF DESCRIPTION OF DRAWINGS

[0021] The above and other objects, features and advantages of the present application will become more apparent from the following description of embodiments of the present application with reference to the accompanying drawings.

[0022] Figure 1 An exemplary system architecture of the underwater vibration table hybrid test of the fixed offshore wind turbine system considering multi-field coupling according to an embodiment of the present application is shown.

[0023] Figure 2 A flowchart of the underwater vibration table hybrid test method of the fixed offshore wind turbine system considering multi-field coupling according to an embodiment of the present application is shown.

[0024] Figure 3 A numerical substructure model schematic diagram according to an embodiment of the present application is shown.

[0025] Figure 4 A displacement response comparison schematic diagram of the tower top of the actual offshore wind turbine system under the action of the fluctuating wind load and the actual wind load according to an embodiment of the present application is shown.

[0026] Figure 5 A tower top sway process schematic diagram of the offshore wind turbine model according to an embodiment of the present application is shown.

[0027] Figure 6 A structural schematic diagram of the underwater vibration table hybrid test system of the fixed offshore wind turbine system considering multi-field coupling according to an embodiment of the present application is shown.

[0028] Figure 7 A block diagram of an electronic device suitable for implementing the method described above according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0029] Hereinafter, embodiments of the present application will be described with reference to the accompanying drawings. It is to be understood, however, that such descriptions are merely exemplary of the application and are intended to provide an overview for the understanding of the application and are not intended to limit the scope of the application. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the application. However, it will be apparent to one skilled in the art that one or more embodiments can be practiced without these specific details. In other instances, well-known structures and techniques have not been described in detail in order to avoid unnecessarily obscuring aspects of the application.

[0030] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "includes" and tautological expressions thereof, such as "including," "includes," "include," "contains," "containing," and so forth, shall be read expansively and without limitation. The terms "comprising," "comprise" and / or "comprised of," and tautological expressions thereof (e.g., "comprising of") will be understood to enable recitations that include many alternatives open to interpretation.

[0031] All terms used herein including technical and scientific terms have the same meanings as commonly understood by one of ordinary skill in the art unless otherwise defined herein. It should be noted that the terms used herein are merely specific ones and are not intended to limit the present application. Rather, they are intended to provide an overview for the understanding of the present application and are not intended to be interpreted in an idealized or excessively formal manner.

[0032] In the case of using expressions similar to "at least one of A, B, and C, etc.", it should generally be interpreted to include at least one of each item, as well as a combination of the items (e.g., "a system having at least one of A, B, and C" should include a system having A alone, a system having B alone, a system having C alone, a system having both A and B, a system having both A and C, a system having both B and C, and / or a system having A, B, and C together, etc.).

[0033] In the technical solutions of the present application, the data involved (including but not limited to data for analysis, stored data, displayed data, etc.) are all information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of relevant data comply with relevant laws, regulations and standards, necessary security measures are taken, do not violate public order and good customs, and provide corresponding operation portal for user to choose authorization or refusal.

[0034] At present, the common offshore wind turbine structure mainly includes fixed type and floating type, among which the fixed type wind turbine occupies the dominant position in the market, accounting for more than 90%. However, the dynamic failure mechanism of fixed offshore wind turbine under the multi-field coupling effect of wind, wave flow and earthquake is not clear, and large-scale model test research is urgently needed. This problem involves complex multi-field coupling effect, and there are key problems such as difficulty in wind load reproduction and incoordination of various scale relationships (structure-fluid, structure-saturated soil) in the simulation process of conventional shaking table test, while the hybrid simulation test method is considered as an effective technical approach to solve the above problems.

[0035] Currently, the hybrid simulation research on offshore wind turbine structure is mostly limited to numerical simulation or small-scale physical test, and the real coupling simulation of wind-wave-current-seismic interaction has not been realized. Although numerical simulation can establish a full-scale model, the simplification assumption of the complex coupling system will introduce model errors, and it is difficult to truly reflect the nonlinear behavior of the structure, so its reliability and engineering applicability are limited. In terms of physical test, due to the limitation of test conditions, the conventional gravity field shaking table or centrifuge test needs to use a larger scale ratio, which leads to obvious size effect and cannot accurately restore the real response and failure mechanism of the prototype structure under the action of multi-field coupling.

[0036] Hybrid simulation divides the structure into numerical substructure and test substructure to a certain extent, which alleviates the problem of similarity law incoordination. Among them, the boundary coordination loading device is the key to realize the cooperative work of the two. Traditional methods mostly use fixed actuators, wind tunnels or fans for loading, but there are problems such as high cost, inaccurate wind load simulation, and difficulty in coupling with shaking table motion. Especially in underwater shaking table test, it is difficult to set up a reaction frame, which further limits the test feasibility. In recent years, active mass driver has been proposed as a new type of boundary coordination device, but its stroke is limited, which makes it difficult to reproduce the low-frequency component and average wind load part of the wind load, affecting the integrity of load simulation.

[0037] Therefore, it is of great significance to develop a hybrid test method that can consider the multi-field coupling effect and overcome the limitations of existing loading techniques, to reveal the real dynamic behavior of fixed offshore wind turbine system.

[0038] Therefore, the embodiments of the present application provide a hybrid test of a fixed offshore wind turbine system considering multi-field coupling under a shaking table.

[0039] Figure 1 An exemplary system architecture 100 to which the hybrid test of a fixed offshore wind turbine system considering multi-field coupling under a shaking table can be applied according to embodiments of the present application is shown. It should be noted that, Figure 1 The shown is only an example of a system architecture to which embodiments of the present application can be applied, to help those skilled in the art understand the technical content of the present application, but it does not mean that the embodiments of the present application cannot be used in other devices, systems, environments or scenarios.

[0040] As Figure 1As shown, the system architecture 100 according to this embodiment can include a first terminal device 101, a second terminal device 102, a third terminal device 103, a network 104, and a server 105. The network 104 is a medium for providing communication links between the first terminal device 101, the second terminal device 102, the third terminal device 103, and the server 105. The network 104 can include various connection types, such as wired and / or wireless communication links, etc.

[0041] A user can use the first terminal device 101, the second terminal device 102, the third terminal device 103 to interact with the server 105 through the network 104 to receive or send messages, etc. Various communication client applications can be installed on the first terminal device 101, the second terminal device 102, the third terminal device 103, such as shopping applications, web browser applications, search applications, instant messaging tools, email clients, and / or social platform software, etc. (only as examples).

[0042] The first terminal device 101, the second terminal device 102, the third terminal device 103 can be various electronic devices with display screens and supporting web browsing, including but not limited to smartphones, tablet computers, laptop computers, desktop computers, etc.

[0043] The server 105 can be a server providing various services, such as a background management server providing support for websites browsed by users using the first terminal device 101, the second terminal device 102, the third terminal device 103 (only as an example). The background management server can analyze and process received user requests and other data, and feed back the processing results (such as web pages, information, or data generated or obtained according to user requests, etc.) to the terminal device.

[0044] It should be noted that the underwater shaking table hybrid test method for a fixed offshore wind turbine system considering multi-field coupling provided in the embodiments of the present application can generally be executed by the server 105. Accordingly, the underwater shaking table hybrid test system for a fixed offshore wind turbine system considering multi-field coupling provided in the embodiments of the present application can generally be arranged in the server 105. The underwater shaking table hybrid test method for a fixed offshore wind turbine system considering multi-field coupling provided in the embodiments of the present application can also be executed by a server or a server cluster different from the server 105 and capable of communicating with the first terminal device 101, the second terminal device 102, the third terminal device 103 and / or the server 105. Accordingly, the underwater shaking table hybrid test system for a fixed offshore wind turbine system considering multi-field coupling provided in the embodiments of the present application can also be arranged in a server or a server cluster different from the server 105 and capable of communicating with the first terminal device 101, the second terminal device 102, the third terminal device 103 and / or the server 105. Alternatively, the underwater shaking table hybrid test method for a fixed offshore wind turbine system considering multi-field coupling provided in the embodiments of the present application can also be executed by the first terminal device 101, the second terminal device 102 or the third terminal device 103, or by other terminal devices different from the first terminal device 101, the second terminal device 102 or the third terminal device 103. Accordingly, the underwater shaking table hybrid test system for a fixed offshore wind turbine system considering multi-field coupling provided in the embodiments of the present application can also be arranged in the first terminal device 101, the second terminal device 102 or the third terminal device 103, or in other terminal devices different from the first terminal device 101, the second terminal device 102 or the third terminal device 103.

[0045] It should be understood that Figure 1 The number of the first terminal device, the second terminal device, the third terminal device, the network and the server in the embodiments of the present application is merely an example. According to the implementation needs, there can be any number of terminal devices, networks and servers.

[0046] Figure 2 A flowchart of the underwater shaking table hybrid test method for a fixed offshore wind turbine system considering multi-field coupling according to the embodiments of the present application is shown.

[0047] As Figure 2 shown, the method includes operations S210-S240.

[0048] At operation S210, the predetermined wind load, the predetermined seismic wave and the predetermined wave-current load are scaled according to the scaling relationship between the actual offshore wind turbine system and the offshore wind turbine model, to obtain test loads.

[0049] In operation S220, the test load and the horizontal inertial mass determined based on the mass distribution of the offshore wind turbine model along the height direction are input into the numerical substructure model for dynamic calculation, and a first acceleration of the top of the tower of the offshore wind turbine model is output.

[0050] In operation S230, in the case that the test seismic wave in the test load is applied to the offshore wind turbine model by the underwater vibration table and the test wave flow load is applied by the wave and current generating device, the displacement stroke of the mass block in the active mass driver in the offshore wind turbine model is determined according to the difference between the second acceleration generated by the table surface of the underwater vibration table and the first acceleration.

[0051] In operation S240, based on the displacement stroke, the active mass driver is controlled to drive the mass block to move horizontally, so as to superimpose the fluctuating wind load in the test wind load on the tower by the inertial force generated by the mass block movement in the case that the average wind load in the test wind load is applied to the tower by the counterweight loading device.

[0052] According to the embodiments of the present application, the preset wind load refers to the pressure generated by the air flow on the structure of the actual offshore wind turbine system. The preset seismic wave refers to the vibration propagated from the seismic source to the actual offshore wind turbine system. The preset wave flow load refers to the dynamic load generated when the wave acts on the actual offshore wind turbine system.

[0053] In order to facilitate the simulation of the influence of the preset wind load, the preset seismic wave and the preset wave flow load on the offshore wind turbine system by the physical model, the preset wind load, the preset seismic wave and the preset wave flow load need to be scaled down to obtain the test load. The test load includes: test wind load, test seismic wave and test wave flow load. In this way, the test environment of the offshore wind turbine model can be adapted, and the accuracy of the test load is ensured.

[0054] According to the embodiments of the present application, the numerical substructure model is a model that divides the overall structure of the offshore wind turbine model into several substructures and performs block calculation and result synthesis. In order to make the results of dynamic calculation accurately reflect the dynamic influence factors (preset wind load, preset seismic wave and preset wave flow load) of the actual offshore wind turbine system, the numerical substructure model needs to be relied on to divide the overall structure of the offshore wind turbine model, and the test load and the horizontal inertial mass determined based on the mass distribution of the offshore wind turbine model along the height direction are calculated. The first acceleration is the acceleration of the top of the tower of the offshore wind turbine model affected by the test wind load, the test seismic wave and the test wave flow load.

[0055] In this way, the complex structure problem of the offshore wind turbine model can be conveniently processed, the calculation efficiency of the numerical analysis method for the test load and the horizontal inertial mass determined based on the mass distribution of the offshore wind turbine model along the height direction is improved, and the accuracy of the above-mentioned first acceleration is improved.

[0056] According to the embodiment of the present application, the active mass driver is a device for reducing structural vibration by active control technology, and the mass block in the active mass driver generates a movement opposite to the direction of the structural vibration to offset the vibration. The underwater shaking table is used to transmit the seismic wave in the model test of the offshore wind turbine, and the wave and current generating device is used to transmit the wave and current load in the model test. The second acceleration is the acceleration generated by the table surface of the underwater shaking table under the influence of the test seismic wave and the test wave and current load.

[0057] There is a difference between the underwater shaking table and the above-mentioned offshore wind turbine model after the table transmits the test seismic wave and the test wave and current load to the offshore wind turbine model. Thus, the calculated first acceleration will be deviated. The reverse movement of the mass block will offset the structural vibration of the offshore wind turbine model in the transmission process. The displacement stroke of the mass block in the active mass driver of the offshore wind turbine model can be determined based on the difference between the second acceleration and the first acceleration, i.e. the displacement of the reverse movement.

[0058] In this way, the error of the test seismic wave and the test wave and current load transmitted by the table can be reduced, the influencing factors acting on the offshore wind turbine model can be more truly reflected, the difference between the second acceleration and the first acceleration generated by the table surface of the underwater shaking table can be reduced, the accuracy of the displacement stroke of the mass block can be improved, and the authenticity and accuracy of the subsequent test can be improved.

[0059] According to the embodiment of the present application, the average wind load is a steady component, and the direction and intensity are relatively stable, and the period is much larger than the structural natural period of the offshore wind turbine model, which can be equivalent to static force. The above-mentioned fluctuating wind load is a random fluctuating component, and has spatial and temporal randomness, and the period is short, and is close to the structural natural period of the offshore wind turbine model, which is the instantaneous fluctuation of wind speed, and can cause dynamic effect.

[0060] The active mass driver drives the horizontal movement of the mass block, and the horizontal movement distance is the displacement stroke of the mass block. With the cooperation of the counterweight block, the influence of the average wind load on the tower of the offshore wind turbine model can be simulated. On this basis, the influence of the fluctuating wind load on the offshore wind turbine model is superimposed, so as to reproduce the influence of the fluctuating wind load on the offshore wind turbine model under multiple influencing factors.

[0061] The load parameters suitable for the test are obtained by scaling the wind load, seismic wave and wave-current load according to the scale relationship of the offshore wind turbine system and the model. The test load and the horizontal inertia mass determined according to the mass distribution of the offshore wind turbine model are input into the numerical substructure model, and the first acceleration at the top of the tower drum is calculated. When the test seismic wave and wave-current load are applied on the underwater vibration table, the displacement stroke of the mass block in the active mass driver is accurately determined by comparing the difference between the second acceleration of the vibration table surface and the first acceleration. Based on the displacement stroke, the active mass driver drives the mass block to move horizontally, and the average wind load is applied by using the counterweight loading device, and the inertial force generated by the mass block movement is used to apply the fluctuating wind load. This method can simultaneously and accurately simulate the multiple coupling loads borne by the offshore wind turbine in the real marine environment, effectively improve the consistency between the model response and the actual situation, and significantly enhance the accuracy and reliability of the offshore wind turbine simulation test.

[0062] Figure 3 A numerical substructure model according to an embodiment of the present application is shown.

[0063] According to an embodiment of the present application, the numerical substructure model includes a plurality of nodes, each node having two degrees of freedom of horizontal displacement and rotation angle; the horizontal inertia mass determined based on the mass distribution of the offshore wind turbine model along the height direction is correspondingly distributed to each node of the numerical substructure model; the test wind load, test seismic wave and test wave-current load in the test load are applied as external excitations to the corresponding nodes in the numerical substructure model; and the dynamic responses of the horizontal displacement and rotation angle of each node in the numerical substructure model are calculated by a numerical integration method, so as to determine the first acceleration based on the dynamic response of the corresponding node at the top of the tower drum.

[0064] As shown in Figure 3 The physical carrier of the numerical substructure model is in the form of a tower drum structure with a plurality of nodes distributed along the height, each node having two degrees of freedom of horizontal displacement and rotation angle, so as to adapt to the bending deformation and rotation coupling characteristics of the high-rise structure of the offshore wind turbine.

[0065] Specifically, the rotational spring in the numerical substructure model is used to simulate the soil-structure interaction. Among them, the particles 6-10 correspond to the distributed mass of the tower drum, the particle 10 specifically corresponds to the distributed mass at the top of the tower, the particles 1-5 correspond to the distributed mass of the lower structure, and the particle 1 specifically corresponds to the distributed mass of the foundation.

[0066] In the construction process of the numerical substructure model, the horizontal inertia mass is determined based on the mass distribution of the offshore wind turbine model along the height direction, and the horizontal inertia mass of each node is correspondingly distributed to each node of the simulation structure, so that the inertia characteristics of each node are consistent with the segmented mass characteristics of the actual wind turbine model.

[0067] For the application of the test load, the test wind load, the test wave load and the test seismic wave are respectively taken as external excitations, which are applied to the nodes of the numerical substructure model corresponding to the actual load application position. Specifically, the test wind load is applied to the upper node region of the numerical substructure model, the test wave load is applied to the corresponding lower nodes, and the test seismic wave is applied to the bottom nodes.

[0068] Subsequently, the dynamic responses of the horizontal displacement and the rotation angle of each node in the numerical substructure model are calculated by the numerical integration method, and finally the first acceleration is determined based on the dynamic response results of the top node of the simulation structure corresponding to the top of the tower.

[0069] Figure 4 A comparison diagram of the displacement responses of the top of the tower of the actual offshore wind turbine system under the action of the fluctuating wind load and the actual wind load is shown according to an embodiment of the present application.

[0070] As shown in Figure 4 , X represents time and Y represents displacement stroke, wherein the image at X = 24.6, Y = 0.005238 indicates that when the test wind load is applied to the offshore wind turbine model for 24.6 seconds, the displacement stroke of the top of the tower of the offshore wind turbine model is 0.005238 meters, which coincides with the numerical value of the displacement stroke of the top of the tower of the actual offshore wind turbine system under the action of the actual wind load when the actual wind load is applied for 24.6 seconds.

[0071] As shown in Figure 4 , the change trend of the displacement stroke of the top of the tower of the offshore wind turbine system under the action of the fluctuating wind load coincides with the change trend of the displacement stroke of the top of the tower of the actual offshore wind turbine system under the action of the actual wind load. As known from the above, the numerical substructure model can accurately simulate the action of the fluctuating wind load on the top of the tower of the actual offshore wind turbine system under the combined action of the test wind load, the test seismic wave and the test wave load.

[0072] By constructing the numerical substructure model, the incoordination problem in the scale reduction process can be effectively improved. By corresponding the mass distribution to each node of the numerical substructure model, the inertia force distribution of the offshore wind turbine model under the combined action of the test wind load, the test seismic wave and the test wave load can be more truly reflected, thereby significantly improving the accuracy of the dynamic response calculation. In addition, the calculation cost can be effectively reduced by using the numerical integration method for calculation, which is helpful for in-depth analysis of the local (such as the tower) dynamic characteristics of the offshore wind turbine model.

[0073] According to the embodiment of the present application, the mass distribution of the offshore wind turbine model along the height direction is split into node inertial mass corresponding to the height position of each node of the numerical substructure model, wherein the mass distribution includes tower top distribution mass, tower drum distribution mass, lower structure distribution mass and foundation distribution mass; the split obtained multiple node inertial mass is distributed to the corresponding node in the numerical substructure model as horizontal inertial mass.

[0074] Specifically, the node inertial mass is used to characterize the mass of the position where each node divided along the height direction of the offshore wind turbine model is located. The tower top distribution mass is the node inertial mass of the height position where the tower top of the offshore wind turbine model is located. The tower drum distribution mass is the node inertial mass of the height position where the tower drum of the offshore wind turbine model is located. The lower structure distribution mass is the node inertial mass of the height position where the lower structure of the offshore wind turbine model is located, and the foundation distribution mass is the node inertial mass of the height position where the foundation of the offshore wind turbine model is located.

[0075] Due to the complex high-rise structure of the offshore wind turbine model, the mass and structure of the tower top, tower drum and lower structure are different, and the influence results caused by the test load are also different, so in order to make the experimental results more accurate, it is necessary to further refine the action position of the actual offshore wind turbine system under the test wind load, test seismic wave and test wave load after the mass distribution is distributed to each node. Since the mass of the tower top, tower drum and lower structure of the offshore wind turbine model is mainly distributed along the height direction, it is only necessary to further split the mass distribution to obtain the node inertial mass corresponding to the height position of each node of the numerical substructure model.

[0076] Through reasonable mass distribution division, the calculation accuracy of the key areas (tower top distribution mass, tower drum distribution mass, lower structure distribution mass and foundation distribution mass) is ensured, and the reliability of the data is effectively improved.

[0077] According to the embodiment of the present application, the difference between the first acceleration and the second acceleration is determined to obtain an acceleration error; and the acceleration error is subjected to twice time integral operation to obtain a displacement stroke required by the mass block in the active mass driver.

[0078] Specifically, by performing once time integral operation on the acceleration error, a velocity error can be obtained. By performing once time integral operation on the velocity error again, a displacement error can be obtained. The displacement error is the displacement error of the structure vibration caused by the influence of the test seismic wave and the test wave load on the underwater shaking table and the conduction to the offshore wind turbine model, which is the displacement stroke required by the mass block. The acceleration error is converted into the displacement stroke through twice time integral, which can directly reflect the actual motion trajectory of the mass block, and provide accurate displacement control basis for the active mass driver.

[0079] The displacement stroke required by the mass block in the active mass driver is obtained by twice time integral operation, the accuracy of the compensation of the mass block to the displacement error is improved, and the interference of the test seismic wave and the test wave load on the test is effectively offset.

[0080] According to the embodiment of the application, the displacement control signal is generated based on the displacement stroke, and the displacement control signal is sent to the active mass driver to control the horizontal movement of the mass block; the three-way force sensor arranged between the active mass driver and the tower drum is used to monitor the inertial force generated by the horizontal movement of the mass block in real time; the displacement control signal is corrected in real time according to the difference between the inertial force and the fluctuating wind load in the test wind load, so that the inertial force generated by the mass block is equivalent to the fluctuating wind load.

[0081] Specifically, the driving module is arranged in the active mass driver, and the displacement control signal generated by the displacement stroke can be used to control the horizontal movement of the mass block. The three-way force sensor is a sensor for measuring the mechanical parameters in three-dimensional space, and is used to collect the inertial force output by the active mass driver.

[0082] Figure 5 A top swaying process diagram of the offshore wind turbine model tower drum is shown.

[0083] As shown in Figure 5 , the top end of the offshore wind turbine model is loaded with the active mass driver and the corresponding mass block, and the three state changes of the tower drum with the movement of the mass block are clearly presented in the figure. Specifically, in the initial state, the tower drum is in an upright state, the mass block is in the initial position and does not move horizontally, and the active mass driver does not output the inertial force at this time.

[0084] When the driving module drives the mass block to move horizontally to one side according to the initial displacement control signal, the top end of the tower drum moves slightly with the movement of the mass block, and the whole presents a small amplitude bending state. At this time, the inertial force generated by the movement of the mass block is initially formed, but due to the slight swaying of the tower drum, the inertial force may deviate slightly from the fluctuating wind load required by the test.

[0085] With the continuous movement of the mass block according to the initial control signal, the bending degree of the tower drum gradually increases, the swaying amplitude of the top end also increases, and the difference between the corresponding inertial force and the preset fluctuating wind load further expands, so it is difficult to accurately match the effect of the fluctuating wind in the real marine environment.

[0086] In this process, the three-way force sensor arranged between the active mass driver and the tower drum synchronously collects the mechanical parameters in the three-dimensional space, monitors the inertial force actually output by the active mass driver in different bending states in real time, and continuously feeds back these monitoring data to the control end.

[0087] When the inertial force is monitored to be different from the preset fluctuating wind load, the control end will correct the displacement control signal in real time based on the difference, and then adjust the horizontal movement amplitude and rhythm of the mass block.

[0088] With the execution of the corrected control signal, the motion state of the mass block will change accordingly, and the bending degree and the sway amplitude of the tower drum will gradually match the structural response under the action of the real fluctuating wind load, finally ensuring that the inertial force generated by the motion of the mass block is accurately equivalent to the fluctuating wind load required by the test.

[0089] According to the embodiment of the application, the scale relationship includes a structure fluid scale relationship and a structure soil scale relationship; based on the similarity criterion of the structure dynamic model test, the structure fluid scale relationship between the actual offshore wind turbine system and the offshore wind turbine model is determined, wherein the structure fluid scale relationship includes a geometric scale relationship, a mass scale relationship and an acceleration scale relationship; based on a set of dimensionless parameters of soil and structure dynamic interaction, the structure soil scale relationship between the actual offshore wind turbine system and the offshore wind turbine model is determined, wherein the set of dimensionless parameters includes geometric characteristic parameters, physical characteristic parameters and dynamic characteristic parameters; according to the structure fluid scale relationship and the structure soil scale relationship, the preset wind load, the preset seismic wave and the preset wave current load are respectively converted into corresponding test wind load, test seismic wave and test wave current load; wherein the test wind load, the test seismic wave and the test wave current load are all converted through the structure fluid scale relationship and the structure soil scale relationship.

[0090] Specifically, when determining the structure fluid scale relationship between the actual offshore wind turbine system and the offshore wind turbine model, the scale relationship needs to be preliminarily determined according to the size of the underwater vibration table and the load. The tower drum and the lower structure of the actual offshore wind turbine system are subjected to the bending elastic force-gravity similarity law (similarity criterion of structure dynamic model test) for scale processing to determine the structure fluid scale relationship between the actual offshore wind turbine system and the offshore wind turbine model, which can realize the similarity of the structural bending restoring force of the offshore wind turbine model and the above-mentioned inertial force. The calculation method of the structure fluid scale relationship is shown in formula (1).

[0091] S K S L =S m S g (1)

[0092] Wherein, S K represents the bending stiffness scale relationship, S L represents the length scale relationship, S m represents the mass scale relationship, S g represents the acceleration scale relationship. The length scale relationship and the bending stiffness scale relationship belong to the geometric scale relationship.

[0093] After determining the structural fluid scale relationship between the actual offshore wind turbine system and the offshore wind turbine model, the test wave flow load can be designed according to the principle that the wave flow force scale relationship is consistent with the structural bending restoring force and the structural inertia force scale relationship, and the test water depth, wave height, wave period, flow velocity and other parameters are determined.

[0094] Since the wave-making and current-making equipment of the underwater vibration table generally has limitations on the maximum wave height, water depth and flow velocity, when the bending elastic force-gravity similarity law is used, only the wave height and water depth scale are required to be consistent with the height scale of the offshore wind turbine model, and the test condition restrictions are more easily met.

[0095] On the basis of the above, the dimensionless parameter group capable of accurately reflecting the dynamic interaction between the soil and the structure is introduced, the geometric characteristic parameters, dynamic characteristic parameters and physical characteristic parameters are designed, and the scale relationship between the offshore wind turbine model and the structural soil is coordinated. In this way, the scale relationship between the actual offshore wind turbine system and the offshore wind turbine model can be determined based on the dimensionless parameter group of the dynamic interaction between the soil and the structure. Table 1 shows the dimensionless parameter group table according to the embodiment of the present application.

[0096] Table 1

[0097]

[0098] wherein D represents the outer diameter of the foundation, L represents the height of the foundation, E represents the elastic modulus of the foundation, t represents the wall thickness, G represents the shear modulus of the soil, H represents the horizontal load, k n represents the soil permeability coefficient, f f represents the external load frequency, f n represents the system natural frequency, M1 represents the top assembly system, M2 represents the tower and foundation mass, and M3 represents the system natural frequency.

[0099] By converting the preset wind load, the preset seismic wave and the preset wave flow load through the structural fluid scale relationship and the structural soil scale relationship, it can be ensured that the influencing factors of the offshore wind turbine model and the actual offshore wind turbine system are physically similar in dynamic response. The test error caused by the difference in scale relationship is effectively reduced, and the test data more truly reflects the state of the actual offshore wind turbine system under complex load.

[0100] Figure 6 A structural schematic diagram of a fixed offshore wind turbine system underwater vibration table hybrid test system considering multi-field coupling is shown.

[0101] As Figure 6As shown, the system comprises: an offshore wind turbine model 600, including a soil model 601, a fixed foundation 602, a substructure 603, a tower 604, an active mass driver 605 arranged on the tower 604, and a counterweight loading device 608 connected with the tower 604; wherein the soil model 601 comprises a soil box 606 and saturated sand 607 filled in the soil box 606, and the fixed foundation 602 is arranged in the soil model 601; the active mass driver 605 is internally provided with a mass block capable of horizontal movement, and the counterweight loading device 608 is used to apply the average wind load in the test wind load to the tower 604.

[0102] An underwater vibration table 609 is used to carry the offshore wind turbine model 600 and can apply a test seismic wave. A wave and current generating device is used to apply a test wave and current load.

[0103] A controller is connected with the underwater vibration table 609, the active mass driver 605 and the counterweight loading device 608 respectively; wherein the controller is configured to: according to the scale relationship between the actual offshore wind turbine system and the offshore wind turbine model 600, scale the preset wind load, the preset seismic wave and the preset wave and current load to obtain a test load; input the test load and the horizontal inertia mass determined based on the mass distribution of the offshore wind turbine model 600 along the height direction into a numerical substructure model for dynamic calculation, and output a first acceleration of the top of the tower 604; in the case of applying the test seismic wave through the underwater vibration table 609 and applying the test wave and current load through the wave and current generating device, determine the displacement stroke of the mass block in the active mass driver 605 according to the difference between the second acceleration generated by the table surface of the underwater vibration table 609 and the first acceleration; based on the displacement stroke, control the active mass driver 605 to drive the mass block to move horizontally, so that the inertia force generated by the movement of the mass block is superimposed as a fluctuating wind load on the tower 604.

[0104] Specifically, the soil box 606 is in a box structure and is placed on the table surface of the underwater vibration table 609, and the saturated sand 607 filled in the inside of the soil box 606 constitutes the soil model 601 simulating the marine foundation, and the fixed foundation 602 is integrally buried in the saturated sand 607, so as to restore the dynamic interaction between the foundation and the soil.

[0105] The bottom end of the substructure 603 is fixedly connected with the fixed foundation 602, and the top end extends upward and is connected with the bottom of the tower 604, forming a vertical support body of the offshore wind turbine model 600.

[0106] The active mass driver 605 is fixed in the upper region of the tower 604 through a connecting structure (such as a cross brace) shown by a cross brace 616, the mass block in the inside of the active mass driver 605 can move horizontally along the X direction in the figure, and the active mass driver 605 and the connecting structure are further provided with corresponding sensing components for collecting the inertia force generated by the movement of the mass block.

[0107] The structure of the counterweight loading device 608 corresponds to the component in the figure, wherein the fixed pulley 611 is fixed at the upper support support, one end of the steel cable 612 is connected with the counterweight 615, and the other end is connected with the tower drum 604 after being turned by the fixed pulley 611, so as to convert the gravity of the counterweight 615 into the horizontal average wind load.

[0108] The electric lifting platform 614 is arranged directly below the counterweight 615 and is used for lifting or releasing the counterweight 615 to control the loading and unloading of the load, and the tension sensor 613 is connected in series on the steel cable 612, and is used for monitoring the size of the average wind load in real time.

[0109] The table surface of the underwater shaking table 609 not only bears the soil box 606 to apply the test seismic wave, but also acts on the lower area of the tower drum 604, is matched with the fluid environment above the soil body model 601, and realizes the synergistic effect of the multi-field load.

[0110] The inertia force is provided by the horizontal movement of the mass block driven by the counterweight loading device 608, and the error in the test is offset by the active mass driver 605, so as to ensure the accuracy of the fluctuating wind load, and thus the accuracy of the test is improved. The stability of the influencing factors is ensured during the test simulation, and the authenticity of the test is ensured.

[0111] According to the embodiment of the application, the counterweight loading device 608 comprises a counterweight 615, a fixed pulley 611, a steel cable 612, a tension sensor 613 and an electric lifting platform 614; one end of the steel cable 612 is connected with the counterweight 615, and the other end is connected with the tower drum 604 after being turned by the fixed pulley 611, and is used for converting the gravity of the counterweight 615 into the horizontal average wind load; the electric lifting platform 614 is arranged below the counterweight 615 and is connected with a controller, and is used for controlling the loading or unloading of the average wind load by lifting or releasing the counterweight 615; and the tension sensor 613 is connected in series on the steel cable 612 and is connected with the controller, and is used for monitoring the size of the average wind load in real time and feeding back to the controller.

[0112] Specifically, the fixed pulley 611 is fixedly installed at the upper support support of the three-way force sensor 617, the support support provides a stable hoisting support point for the counterweight loading device, and the fixed pulley can keep a fixed turning angle.

[0113] One end of the steel cable 612 is directly connected with the top lifting point of the counterweight 615, and the other end is connected with the upper part of the tower drum 604 after being turned horizontally by the wheel groove of the fixed pulley 611. The gravity of the counterweight 615 in the vertical direction is stably converted into the horizontal average wind load acting on the tower drum 604 by means of the turning effect of the fixed pulley.

[0114] The electric lifting platform 614 is placed on the fixed base in the counterweight loading device 608, and the platform is accurately aligned below the counterweight 615. When the electric lifting platform 614 lifts the counterweight 615, the gravity of the counterweight is not transmitted to the steel cable 612, and the average wind load is in an unloading state. When the electric lifting platform 614 descends to release the counterweight 615, the gravity of the counterweight is transmitted to the tower 604 through the steel cable 612, and the loading of the average wind load is completed.

[0115] The tension sensor 613 is connected in series on the steel cable 612 segment between the fixed pulley 611 and the tower 604, and can directly collect the horizontal tension value transmitted to the tower 604. The data is transmitted to the controller in real time, so that the controller adjusts the loading state of the counterweight according to the monitoring result, and ensures the accuracy of the application of the average wind load.

[0116] Through real-time monitoring of the average wind load by the tension sensor 613, the accuracy and stability of the application of the average wind load in the test are ensured. The accuracy of simulating the influence of the average wind in the actual offshore wind turbine system environment in the test is improved.

[0117] According to the embodiment of the application, the active mass driver 605 is connected with the tower 604 through the cross bracket 616; a three-way force sensor 617 is arranged between the active mass driver 605 and the cross bracket 616, and is used for measuring the size of the fluctuating wind load.

[0118] Specifically, the cross bracket 616 is in a cross-shaped frame structure, and the vertical bracket segment of the cross-shaped frame structure is tightly fitted on the upper outer wall of the tower 604 and is stably connected with the tower 604 through bolts and other fasteners, so that no relative displacement occurs between the bracket and the tower 604, and a rigid mounting support is provided for the active mass driver 605.

[0119] The active mass driver 605 is assembled on the end surface of the horizontally extending bracket segment of the cross bracket 616. The three-way force sensor 617 is tightly clamped between the connection interface between the housing of the active mass driver 605 and the horizontal bracket segment of the cross bracket 616, and the two ends of the three-way force sensor 617 are fixed through rigid connecting pieces, respectively.

[0120] When the mass block in the active mass driver 605 reciprocates in the horizontal direction, the inertia force (i.e., the simulated fluctuating wind load) generated by the reciprocation directly acts on the three-way force sensor 617. The three-way force sensor 617 can accurately collect the force value of the inertia force in the horizontal direction, and can also monitor the lateral and vertical force components of the connection part, so as to realize real-time measurement of the fluctuating wind load and also assist in ensuring the stability of the structure connection in the loading process.

[0121] The real-time monitoring of the size of the fluctuating wind load by the three-way force sensor 617 ensures the stability of the fluctuating wind load, thereby ensuring the stable simulation of the influence of the average wind in the environment where the actual offshore wind turbine system is located, and improving the reliability of the test data.

[0122] According to the embodiment of the application, the accelerometer 618 arranged on the table surface of the underwater vibration table 609 is used to measure the second acceleration and feed back the measurement result to the controller.

[0123] Specifically, the accelerometer 618 adopts a small patch or pedestal mounting structure, which is closely attached to the table surface of the underwater vibration table 609, and the installation position is located in the side area of the soil box 606, which will not be affected by the soil box 606 and will be close to the load action area of the offshore wind turbine model, ensuring that the transmission of the table vibration has no obvious attenuation.

[0124] The accelerometer 618 is stably connected with the table surface of the vibration table through a matched metal mounting seat, and the bottom of the mounting seat is fastened with the table surface by bolts to avoid the loosening of the accelerometer caused by the high-frequency vibration of the vibration table during the test.

[0125] Meanwhile, the signal output end of the accelerometer 618 is connected with the controller through a shielded cable, when the underwater vibration table 609 applies a test seismic wave, the vibration generated by the table surface will be directly transmitted to the accelerometer 618, so that it can accurately collect the vibration acceleration of the table surface (i.e. the second acceleration), and transmit the measurement data to the controller in real time, which provides data support for the subsequent calculation of the difference between the first acceleration and the second acceleration and the determination of the displacement stroke of the active mass driver 605.

[0126] The real-time monitoring of the second acceleration by the accelerometer 618 enables the controller to judge the difference between the second acceleration and the first acceleration in real time, which ensures the accuracy of the judgment of the test error, and further improves the accuracy of the displacement stroke of the mass block in the active mass driver 605, and improves the accuracy of the subsequent equivalent fluctuating wind load by the inertial force.

[0127] Figure 7 A block diagram of an electronic device suitable for implementing the method described above according to an embodiment of the application is shown. Figure 7 The electronic device shown is only an example and should not impose any limitation on the function and use range of the embodiments of the application.

[0128] As Figure 7As shown, the electronic device 700 according to an embodiment of the present application includes a processor 701 which can perform various appropriate actions and processes in accordance with a program stored in a read only memory (ROM) 702 or a program loaded into a random access memory (RAM) 703 from a storage section 708. The processor 701 can include, for example, a general purpose microprocessor (e.g., a CPU), an instruction set processor, and / or a related chipset, and / or a special purpose microprocessor (e.g., an application specific integrated circuit (ASIC)), and so on. The processor 701 can also include an on-board memory for cache use. The processor 701 can include a single processing unit or multiple processing units to perform the various actions of the method processes according to embodiments of the present application.

[0129] In the random access memory (RAM) 703, various programs and data required for the operation of the electronic device 700 are stored. The processor 701, the read only memory (ROM) 702, and the random access memory (RAM) 703 are connected to each other via a bus 704. The processor 701 performs various operations of the method processes according to embodiments of the present application by executing the programs in the read only memory (ROM) 702 and / or the random access memory (RAM) 703. Note that the programs can also be stored in one or more memories other than the read only memory (ROM) 702 and the random access memory (RAM) 703. The processor 701 can also perform various operations of the method processes according to embodiments of the present application by executing the programs stored in the one or more memories.

[0130] According to an embodiment of the present application, the electronic device 700 can also include an input / output (I / O) interface 705 which is also connected to the bus 704. The electronic device 700 can also include one or more of the following components connected to the input / output (I / O) interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the input / output (I / O) interface 705 as necessary. A removable recording medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 710 as necessary, so that a computer program read out therefrom is installed in the storage section 708 as necessary.

[0131] According to an embodiment of the present application, the method flow according to the embodiments of the present application can be implemented as a computer software program. For example, the embodiments of the present application include a computer program product comprising a computer program carrying computer program code for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via the communication section 709, and / or installed from the detachable medium 711. When the computer program is executed by the processor 701, the above-described functions defined in the system of the embodiments of the present application are executed. According to an embodiment of the present application, the system, device, apparatus, module, unit, etc. described above can be implemented by computer program modules.

[0132] The present application also provides a computer readable storage medium, which can be included in the device / apparatus / system described in the above embodiments, or exist separately without being assembled into the device / apparatus / system. The above computer readable storage medium carries one or more programs, which, when executed, implement the method according to the embodiments of the present application.

[0133] According to an embodiment of the present application, the computer readable storage medium can be a non-volatile computer readable storage medium. For example, it can include but is not limited to a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any appropriate combination thereof. In the present application, the computer readable storage medium can be any tangible medium that contains, or stores a program for use by or in connection with an instruction execution system, apparatus, or device.

[0134] For example, according to an embodiment of the present application, the computer readable storage medium can include the read-only memory (ROM) 702 and / or the random access memory (RAM) 703 described above and / or one or more memories other than the read-only memory (ROM) 702 and the random access memory (RAM) 703.

[0135] The embodiments of the present application also include a computer program product comprising a computer program containing program code for executing the method provided by the embodiments of the present application, which, when the computer program product is run on an electronic device, causes the electronic device to implement the method of the fixed offshore wind turbine system underwater vibration table hybrid test system considering multi-field coupling provided by the embodiments of the present application.

[0136] The computer program, when executed by the processor 701, performs the aforementioned functions defined in the system / apparatus of the embodiments of the present application. According to the embodiments of the present application, the system, apparatus, modules, units, etc. described above can be implemented by using computer program modules included in the computer program.

[0137] In one embodiment, the computer program can be stored in a tangible storage medium, such as a compact disc, a memory, etc. In another embodiment, the computer program can be transmitted over a network using a wireless, wired, or any suitable combination of network media. The computer program can be downloaded or installed via the communication unit 709, and / or installed from the removable medium 711. The program code contained in the computer program can be executed by any suitable processor, such as the processor 701.

[0138] According to the embodiments of the present application, the program code for the computer program to perform the functions of the embodiments of the present application can be written in any combination of one or more programming languages, including a high-level procedural or object-oriented programming language, and / or an assembly / machine language. The programming language can include, but is not limited to, Java, C++, python, "C", or the like. The program code can execute entirely on the user's computing device, partly on the user's device, and partly on a remote computing device, or entirely on the remote computing device or server. In the latter scenario, the remote computing device can be connected to the user's computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing device, such as through the Internet using an Internet Service Provider (ISP).

[0139] The computer program product of the present application can be a computer program product that comprises a computer-readable medium having stored thereon instructions that can be executed by a processor of a computer to cause the processor to perform steps of any of the above-described methods of the present application. Those of skill would further appreciate that the various illustrative logical blocks, modules, processors, means, circuits, and algorithm steps described in connection with the implementations disclosed herein can be implemented as electronic hardware, computer software, or combinations of both. The

[0140] The above-described embodiments of the application have been described in connection with what are presently considered to be the most practical and preferred implementations. However, it should be understood that the application is not to be limited to the disclosed embodiments, but on the contrary, is intended to cover various modifications and equivalent arrangements. Accordingly, potential alternatives, equivalents, modifications and variations of the application can be practiced. It is intended that the application be construed as including all such alternatives, equivalents, modifications and variations in addition to those explicitly described herein.

Claims

1. A fixed offshore wind turbine system underwater shaking table hybrid test method considering multi-field coupling, characterized in that, The method comprises: According to the scale relationship between the actual offshore wind turbine system and the offshore wind turbine model, the preset wind load, the preset seismic wave and the preset wave current load are scaled to obtain a test load, wherein the offshore wind turbine model comprises a soil model, a fixed foundation, a lower structure, a tower, a driven mass driver arranged on the tower and a counterweight loading device connected with the tower, the soil model comprises a soil box and saturated sand filled in the soil box, the fixed foundation is arranged in the soil model, the driven mass driver is provided with a mass block capable of moving horizontally, and the counterweight loading device is used to apply an average wind load in the test wind load to the tower; the offshore wind turbine model further comprises an underwater vibration table for bearing the offshore wind turbine model and capable of applying a test seismic wave, a wave and current generating device for applying a test wave current load, and a controller connected with the underwater vibration table, the driven mass driver and the counterweight loading device respectively; The test load and horizontal inertia mass determined based on the mass distribution of the offshore wind turbine model along the height direction are input into a numerical substructure model for dynamic calculation, and a first acceleration at the top of the tower of the offshore wind turbine model is output; Under the condition that the test seismic wave in the test load is applied to the offshore wind turbine model by the underwater vibration table and the test wave current load is applied by the wave and current generating device, the displacement stroke of the mass block in the driven mass driver of the offshore wind turbine model is determined according to the difference between the second acceleration generated by the table surface of the underwater vibration table and the first acceleration; Based on the displacement stroke, the driven mass driver drives the mass block to move horizontally, so that under the condition that the average wind load in the test wind load is applied to the tower by the counterweight loading device, the fluctuating wind load in the test wind load is superimposed and applied to the tower by using the inertia force generated by the movement of the mass block.

2. The method of claim 1, wherein, The numerical substructure model comprises a plurality of nodes, each of the nodes has two degrees of freedom of horizontal displacement and rotation angle; the test load and the horizontal inertia mass determined based on the mass distribution of the offshore wind turbine model along the height direction are input into a numerical substructure model for dynamic calculation, and a first acceleration at the top of the tower of the offshore wind turbine model is output, which comprises: The horizontal inertia mass determined based on the mass distribution of the offshore wind turbine model along the height direction is correspondingly distributed to each node of the numerical substructure model; The test wind load, the test seismic wave and the test wave current load in the test load are applied as external excitations to the corresponding nodes in the numerical substructure model respectively; The dynamic response of the horizontal displacement and the rotation angle of each node in the numerical substructure model is calculated by a numerical integration method, so as to determine the first acceleration based on the dynamic response of the corresponding node at the top of the tower.

3. The method of claim 2, wherein, The horizontal inertia mass determined based on the mass distribution of the offshore wind turbine model along the height direction is correspondingly distributed to each node of the numerical substructure model, which comprises: Split the mass distribution of the offshore wind turbine model along the height direction into node inertia mass corresponding to the node height position of each of the numerical substructure model, wherein the mass distribution includes tower top distribution mass, tower drum distribution mass, lower structure distribution mass and foundation distribution mass; The split obtained multiple node inertia mass is distributed as horizontal inertia mass to the corresponding node in the numerical substructure model.

4. The method of claim 1, wherein, The difference between the second acceleration generated by the underwater shaking table platform and the first acceleration is used to determine the displacement stroke of the mass block in the active mass driver in the offshore wind turbine model, including: The difference between the first acceleration and the second acceleration is determined to obtain the acceleration error; The acceleration error is subjected to two time integral operations to obtain the displacement stroke required by the mass block in the active mass driver.

5. The method of claim 1, wherein, The method further includes: A displacement control signal is generated based on the displacement stroke, and the displacement control signal is sent to the active mass driver to control the horizontal movement of the mass block; A three-way force sensor is arranged between the active mass driver and the tower drum to monitor the inertial force generated by the horizontal movement of the mass block in real time; According to the difference between the inertial force and the fluctuating wind load in the test wind load, the displacement control signal is corrected in real time, so that the inertial force generated by the mass block is equivalent to the fluctuating wind load.

6. The method of claim 1, wherein, The scale relationship includes structure fluid scale relationship and structure soil scale relationship; the pre-set wind load, pre-set seismic wave and pre-set wave flow load are scaled to obtain test load according to the scale relationship between the actual offshore wind turbine system and the offshore wind turbine model, including: Based on the similarity criterion of structure dynamic model test, the structure fluid scale relationship between the actual offshore wind turbine system and the offshore wind turbine model is determined, wherein the structure fluid scale relationship includes geometric scale relationship, mass scale relationship and acceleration scale relationship; Based on the dimensionless parameter group of soil and structure dynamic interaction, the structure soil scale relationship between the actual offshore wind turbine system and the offshore wind turbine model is determined, wherein the dimensionless parameter group includes geometric characteristic parameter, physical characteristic parameter and dynamic characteristic parameter; According to the structure fluid scale relationship and the structure soil scale relationship, the pre-set wind load, pre-set seismic wave and pre-set wave flow load are respectively converted into corresponding test wind load, test seismic wave and test wave flow load; The test wind load, the test seismic wave and the test wave flow load are all converted by the structure fluid scale relationship and the structure soil scale relationship.

7. The method of claim 1, wherein, The counterweight loading device includes a counterweight, a fixed pulley, a steel cable, a tension sensor and an electric lifting platform; One end of the steel cable is connected with the counterweight, and the other end is connected with the tower drum after turning through the fixed pulley, which is used to convert the gravity of the counterweight into horizontal average wind load; The electric lifting platform is arranged below the counterweight and connected with the controller, which is used to control the loading or unloading of average wind load by lifting or releasing the counterweight. The tension sensor is connected in series with the steel cable and connected with the controller, for monitoring the average wind load in real time and feeding back to the controller.

8. The method of claim 1, wherein, The active mass driver is connected with the tower through a cross support. A three-way force sensor is arranged between the active mass driver and the cross support, for measuring the size of the fluctuating wind load.

9. The method of claim 1, wherein, An accelerometer is arranged on the underwater shaking table platform, for measuring the second acceleration and feeding back the measurement result to the controller.

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